A Fast path re-planning method for UAV based on improved A* algorithm

In order to improve the efficiency of path planning for Unmanned Aerial Vehicles (UAV), this paper proposed a method combined of GA and A* algorithm for three-dimensional path planning, which is divided into global path planning and real-time path re-planning. Global path planning focus on safety and optimality, and provides an optimal path for the UAV that meets the constraints by using the real number gene coding method. Real-time path re-planning focuses on emergency threats and needs to ensure real-time performance. It is implemented by combining the two-dimensional A* algorithm and height planning that improves the searching efficiency compared to traditional three-dimensional A* methods. Finally, simulation results show that the proposed method in this paper can effectively reduce the search space and improve the search efficiency.